EP1776857B1 - Control device for the support means of a tool - Google Patents

Control device for the support means of a tool Download PDF

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Publication number
EP1776857B1
EP1776857B1 EP06021698A EP06021698A EP1776857B1 EP 1776857 B1 EP1776857 B1 EP 1776857B1 EP 06021698 A EP06021698 A EP 06021698A EP 06021698 A EP06021698 A EP 06021698A EP 1776857 B1 EP1776857 B1 EP 1776857B1
Authority
EP
European Patent Office
Prior art keywords
tool
control
command
actuator
control means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP06021698A
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German (de)
French (fr)
Other versions
EP1776857A1 (en
Inventor
Fausto Phd. Eng. Lodi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ferri Srl
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Ferri Srl
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Filing date
Publication date
Application filed by Ferri Srl filed Critical Ferri Srl
Publication of EP1776857A1 publication Critical patent/EP1776857A1/en
Application granted granted Critical
Publication of EP1776857B1 publication Critical patent/EP1776857B1/en
Not-in-force legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/102—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means characterised by the location of the mounting on the tractor, e.g. on the rear part
    • A01B63/106—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means characterised by the location of the mounting on the tractor, e.g. on the rear part on the side

Definitions

  • the present invention refers to the technical field of the agricultural devices and for the maintenance of the vegetation, grass, hedge and the like, in particular it refers to a control device and to a control method for the support means of a tool, such as a cutting disc or mowing bar, a bush breaker, a shredder, a hoeing machine and the like, particularly fit for adjusting and keeping constant the pressure made by said tool on the land to be maintained.
  • a tool such as a cutting disc or mowing bar, a bush breaker, a shredder, a hoeing machine and the like, particularly fit for adjusting and keeping constant the pressure made by said tool on the land to be maintained.
  • some mowing tools must contact the ground but they must be supported by the respective arm to reduce the pressure on the ground.
  • the cutting action of the tool can be excessive and, especially, the tool and the arm can be excessively stressed.
  • control means comprising at least a sensor detecting the angle of the arm, a sensor detecting the pressure of the hydraulic cylinder of the first element of the arm and a command of said cylinder.
  • Said control means after their calibration according to the geometric and physical characteristics of the arm and according to the weight of the tool, are able to reduce the weight of the tool burdening to the ground.
  • a drawback of said known control means consists in that they provide a partial control of the pressure.
  • Document DE-U-299 07 728 discloses a control device associated to an articulated arm connected to a vehicle and comprising actuator means for moving an agriculture tool and comprising force detecting means interposed between the articulated arm and the tool for providing the force intensity between them. It further comprises command means of the actuator means, control means connected to the force detecting means and to the command means. The control means activates the actuator means to keep constant at a desired preset value the force intensity detected by the force detecting means.
  • An object of the present invention is to propose a control device for the support means of a tool by means of an arm of a vehicle able to adjust the pressure exerted by the tool on the ground independently by the distance of the tool from the vehicle and the characteristics of the ground.
  • Another object is to provide a device able to automatically adapt itself to the tools with different characteristics.
  • the numeral 1 indicates the control device for the support mean 2 for an interchangeable agricultural tool 4 to maintain the vegetation, as grass, hedges or the like, and to perform various operations with the same support mean and the same vehicle.
  • the support mean 2 is of the kind to be connected to a vehicle, for example a tractor, a truck or a generic vehicle and it consists, for example, of a hydraulic arm with two elements, mutually connected as a compasses, and adjustable on vertical planes one in respect to the other and/or in respect to the vehicle by means of actuator means 3 of linear hydraulic type or hydraulic cylinder type.
  • the lower end of the first element 10 of the articulated arm is rotatably connected by means of a pivot having horizontal axis to a joint fixed with the vehicle.
  • the upper end of the first element 10 is connected, by means of another pivot, having horizontal axis, with the upper end of the second element whose lower end supports the tool 4 by means of a further horizontal pivot.
  • the angles formed by the first element with a vertical line and between the two elements are adjusted by means of the two hydraulic cylinders, one of which is interposed between the elements.
  • the other cylinder of the actuator means 3 is connected between the first element 10 and the joint and it is operated by electrical command means 6 of the device 1 that control the feeding valve means thereof.
  • the invention provides that the command means are applied to the cylinder between the two elements of the arm or to any actuator able to modify the height of the tool in any kind of support means of said tool.
  • the device 1 comprises also force detecting means 5, for example a load cell, and digital electronic programmable control means 7.
  • the force detecting means 5 are interposed between the support means 2 and the tool means 4 and they supply, at an input of the control means 7 to which are connected by means of a respective electrical wiring, an electrical signal regarding the intensity of the force transmitted between the support means 2 and the tool means 4 at least in the vertical direction.
  • An output of the control means 7 is connected to the command means 6 for activating the actuator means 3 consisting in the hydraulic cylinder equipped with the same command means 6.
  • control means 7 by means of the command means 6, activate the actuator means 3 in order to keep almost constant at a preset desirable value, the force intensity detected by the detecting means 5.
  • the connection between the support means 2 and the tool 4 is carried out by means of a plurality of pivots. If the weight of the tool mainly loads one of the pivots, it can be used only one load cell associated to said pivot. Even if the weight is shared in known manner among the pivots, it is sufficient only one load cell. In case in which the forces are distributed in variable manner among more pivots, it is provided that one load cell of force detecting means 5 can be used for each of said pivots. In this case, the force intensity transmitted from the tool to the arm will be calculated or estimated by the control means.
  • the interchangeable tool 4 can be chosen from a set of tools, each of which has different characteristics and weights.
  • said device is provided with a circuitry means 12 connectable to an input of the control means 7 by means of a removable connector 13, and a respective wiring, in order to supply identification data of the tool type or data of desired preset value or of deactivation of the device 1 and other eventual useful data for controlling the device.
  • the data can be memorized in the circuitry mean under the form of electrical resistances of opportune value or by means of other codification forms.
  • the circuitry mean 12 can be fixed to the tool 4 and it can be easily connected to the control means 7 by means of the removable connector 13.
  • the device can comprise also a manual command 14 to enable and deactivate the device 1, for example to disable the control during the movements of the arm or during the use of tools which do not need said control.
  • the device can also be equipped with an optional visualization means 15, for example a monitor, for controlling the operation and the status of the device 1.
  • an optional visualization means for example a monitor, for controlling the operation and the status of the device 1.
  • the inputs of the control means 7 for the force detector 5 are provided with respective low-pass filters with cut-off frequency corresponding to the minimum useful constant of time value.
  • control means can comprise an input connected to speed measurement means of the vehicle for example in order to increase e the cut-off frequency of a variable filter when the speed increases or to supply an alarm when approaching or passing the optimum operation maximum speed of the device on a certain land.
  • the control means 7 comprises also an input connected to an operation detector of the tool (4) for deactivate the device when the tool is not in the operation condition, for example during movement phase of the arm.
  • the operation detector of the tool 4 is associated to this latter and is connected to the control means 7 by means of a respective connection provided in the circuitry mean 12, in the removable connector 13 and in the connection wiring of this latter.
  • the operation of the device 1 according to the control method for the support mean 2 of a tool 4 of the invention provides:
  • the method furthermore provides to use preferably a proportional or proportional-derivate type control algorithm, eventually with variable gain.
  • An advantage of the present invention is to provide a control device and a method for the support means of a tool by means of an arm of a vehicle able to adjust the pressure on the ground of the tool independently from the distance of this latter to the vehicle and from the characteristics of the ground.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Vehicle Body Suspensions (AREA)
  • Operation Control Of Excavators (AREA)
  • Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
  • Replacement Of Web Rolls (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

A control device is provided to control a support means (2) connected to a vehicle and comprising actuator means for movement at least at height (3) for at least an agriculture tool (4) or the like.Said device (1) comprises at least:- force detecting means (5) interposed between the support means (2) and the tool (4) and that can provide the force intensity in at least one vertical direction, transmitted between said support means (2) and the tool (4);- command means (6) of the actuator means (3);- control means (7) connected at least, at input, to the force detecting means (5) and, at output, to the command means (6).In an operational condition the control means (7), by means of the command means (6), activate the actuator means (3) to keep almost constant at a desired preset value the force intensity detected by the force detecting means (5).

Description

  • The present invention refers to the technical field of the agricultural devices and for the maintenance of the vegetation, grass, hedge and the like, in particular it refers to a control device and to a control method for the support means of a tool, such as a cutting disc or mowing bar, a bush breaker, a shredder, a hoeing machine and the like, particularly fit for adjusting and keeping constant the pressure made by said tool on the land to be maintained.
  • The optimal operation of many tools for the vegetation care and for the agricultural maintenance, connected to a vehicle by means of an articulated arm, requires that they operate exerting on the land a pressure which is different from the pressure produced by their own weight.
  • For example, some mowing tools must contact the ground but they must be supported by the respective arm to reduce the pressure on the ground. In the contrary case, the cutting action of the tool can be excessive and, especially, the tool and the arm can be excessively stressed.
  • There are known articulated arms provided with control means comprising at least a sensor detecting the angle of the arm, a sensor detecting the pressure of the hydraulic cylinder of the first element of the arm and a command of said cylinder. Said control means, after their calibration according to the geometric and physical characteristics of the arm and according to the weight of the tool, are able to reduce the weight of the tool burdening to the ground. A drawback of said known control means consists in that they provide a partial control of the pressure.
  • Document DE-U-299 07 728 discloses a control device associated to an articulated arm connected to a vehicle and comprising actuator means for moving an agriculture tool and comprising force detecting means interposed between the articulated arm and the tool for providing the force intensity between them. It further comprises command means of the actuator means, control means connected to the force detecting means and to the command means. The control means activates the actuator means to keep constant at a desired preset value the force intensity detected by the force detecting means.
  • Other drawback of said known means consists in that they need to be adjusted and calibrated every time when the tool is replaced by another tool with different characteristics, which causes loss of time and risks of mistakes and hence malfunction or damages to the tool and/or the arm.
  • An object of the present invention is to propose a control device for the support means of a tool by means of an arm of a vehicle able to adjust the pressure exerted by the tool on the ground independently by the distance of the tool from the vehicle and the characteristics of the ground.
  • Other object is to provide a device able to automatically adapt itself to the tools with different characteristics.
  • The characteristics of the invention are underlined in the followings with particular reference to the attached drawings, in which:
    • figure 1 illustrates a schematic front view of an agricultural tool connected to a vehicle by means of a support means and associated to the control device for the support means of the tool object of the present invention;
    • figure 2 illustrates a schematic and partial view of the control device for the support means of the tool.
  • With reference to figures 1 and 2, the numeral 1 indicates the control device for the support mean 2 for an interchangeable agricultural tool 4 to maintain the vegetation, as grass, hedges or the like, and to perform various operations with the same support mean and the same vehicle.
  • The support mean 2 is of the kind to be connected to a vehicle, for example a tractor, a truck or a generic vehicle and it consists, for example, of a hydraulic arm with two elements, mutually connected as a compasses, and adjustable on vertical planes one in respect to the other and/or in respect to the vehicle by means of actuator means 3 of linear hydraulic type or hydraulic cylinder type.
  • The lower end of the first element 10 of the articulated arm is rotatably connected by means of a pivot having horizontal axis to a joint fixed with the vehicle. The upper end of the first element 10 is connected, by means of another pivot, having horizontal axis, with the upper end of the second element whose lower end supports the tool 4 by means of a further horizontal pivot. The angles formed by the first element with a vertical line and between the two elements are adjusted by means of the two hydraulic cylinders, one of which is interposed between the elements. The other cylinder of the actuator means 3 is connected between the first element 10 and the joint and it is operated by electrical command means 6 of the device 1 that control the feeding valve means thereof.
  • The command means 6, opening and closing the valve means of the respective cylinder of the actuator means, adjust the inclination of the first element 10 of the arm raising and lowering the tool 4.
  • In alternative, the invention provides that the command means are applied to the cylinder between the two elements of the arm or to any actuator able to modify the height of the tool in any kind of support means of said tool.
  • The device 1 comprises also force detecting means 5, for example a load cell, and digital electronic programmable control means 7.
  • The force detecting means 5 are interposed between the support means 2 and the tool means 4 and they supply, at an input of the control means 7 to which are connected by means of a respective electrical wiring, an electrical signal regarding the intensity of the force transmitted between the support means 2 and the tool means 4 at least in the vertical direction.
  • An output of the control means 7 is connected to the command means 6 for activating the actuator means 3 consisting in the hydraulic cylinder equipped with the same command means 6.
  • In an operating condition the control means 7, by means of the command means 6, activate the actuator means 3 in order to keep almost constant at a preset desirable value, the force intensity detected by the detecting means 5.
  • The connection between the support means 2 and the tool 4 is carried out by means of a plurality of pivots. If the weight of the tool mainly loads one of the pivots, it can be used only one load cell associated to said pivot. Even if the weight is shared in known manner among the pivots, it is sufficient only one load cell. In case in which the forces are distributed in variable manner among more pivots, it is provided that one load cell of force detecting means 5 can be used for each of said pivots. In this case, the force intensity transmitted from the tool to the arm will be calculated or estimated by the control means.
  • The interchangeable tool 4 can be chosen from a set of tools, each of which has different characteristics and weights.
  • In order to allow the device to automatically adjust itself depending to the features of each tool, said device is provided with a circuitry means 12 connectable to an input of the control means 7 by means of a removable connector 13, and a respective wiring, in order to supply identification data of the tool type or data of desired preset value or of deactivation of the device 1 and other eventual useful data for controlling the device.
  • The data can be memorized in the circuitry mean under the form of electrical resistances of opportune value or by means of other codification forms.
  • The circuitry mean 12 can be fixed to the tool 4 and it can be easily connected to the control means 7 by means of the removable connector 13.
  • The device can comprise also a manual command 14 to enable and deactivate the device 1, for example to disable the control during the movements of the arm or during the use of tools which do not need said control.
  • The device can also be equipped with an optional visualization means 15, for example a monitor, for controlling the operation and the status of the device 1.
  • Optionally, in order to reduce or to eliminate the effects of the oscillations, of the vibrations, of the small of some kind of disturbs having bigger constant of time than that of the altitude variation of the land respect to the forwarding speed of the vehicle, the inputs of the control means 7 for the force detector 5 are provided with respective low-pass filters with cut-off frequency corresponding to the minimum useful constant of time value.
  • Optionally the control means can comprise an input connected to speed measurement means of the vehicle for example in order to increase e the cut-off frequency of a variable filter when the speed increases or to supply an alarm when approaching or passing the optimum operation maximum speed of the device on a certain land.
  • The control means 7 comprises also an input connected to an operation detector of the tool (4) for deactivate the device when the tool is not in the operation condition, for example during movement phase of the arm.
  • The operation detector of the tool 4 is associated to this latter and is connected to the control means 7 by means of a respective connection provided in the circuitry mean 12, in the removable connector 13 and in the connection wiring of this latter.
  • The operation of the device 1 according to the control method for the support mean 2 of a tool 4 of the invention, provides:
    • to detect, by means of one or more load cells 5, the force transmitted from the tool 4 to the support mean 2;
    • to supply a signal, corresponding to the detected value, to the control means 7;
    • to calculate, by means of the control means 7, the difference between the detected value and the desired preset value corresponding to the tool 4;
    • to calculate, by means of a control algorithm of the control means 7, the commands entity to give to the actuator means 3 by means of command means 6 to set at zero or to reduce almost to zero, the value of the difference and to give said commands;
    • to execute a new cycle by effecting a further detection.
  • The method furthermore provides to use preferably a proportional or proportional-derivate type control algorithm, eventually with variable gain.
  • An advantage of the present invention is to provide a control device and a method for the support means of a tool by means of an arm of a vehicle able to adjust the pressure on the ground of the tool independently from the distance of this latter to the vehicle and from the characteristics of the ground.
  • Other advantage is to provide a device able to automatically adjust itself to the tools with various characteristics.

Claims (7)

  1. Control device associated to a support means (2) connected to a vehicle and comprising actuator means for movement at least at height (3) of at least an agriculture tool (4) or the like; said device (1) comprises at least:
    - force detecting means (5) interposed between the support means (2) and the tool (4) and that can provide the force intensity in at least one vertical direction, transmitted between said support means (2) and the tool (4);
    - command means (6) of the actuator means (3);
    - control means (7) connected at least, at input, to the force detecting means (5) and, at output, to the command means (6);
    - the support means (2) and the tool (4) are mutually connected by means of a set of pivots (8);
    - the support means consists of an articulated arm with two elements, the first of which (10) is swivelling connected to a joint fixed to the vehicle, said first element (10) and the joint being interconnnected by the hydraulic actuator (3) actuated by the command means (6); and in an operational condition the control means (7), by means of the command means (6), activate the actuator means (3) to keep almost constant at a desired preset value the force intensity detected by the force detecting means (5),
    - said device being characterized in that the tool (4) is interchangeable type chosen from a set of tools, each of which is provided with a circuitry means (12) connectable to an input of the control means (7) by means of a removable connector (13) and a respective wiring to provide data at least to identify the tool type or the data of the desired preset value of the device (1); and in an operational condition the control means (7), by means of the command means (6), activate the actuator means (3) to keep almost constant at a desired preset value the force intensity detected by the force detecting means (5). each pivot (8) is associated to a load cell of the force detecting means (5) connected to the control means (7) of electronic type; the control means (7) comprise an input connected to an operational detector of the tool (4); the operational detector of the tool (4) is associated to this latter and is connected to the control means (7) by means of a respective connection provided in the circuitry means (12) and in the removable connector (13).
  2. Device according to claim 1 characterized in that the support means (2) consists of an articulated arm with at least two elements adjustable on vertical planes, one in respect to the other and/or in respect to the vehicle by means of the actuator means (3) consisting of a set of linear hydraulic actuators, interposed between the adjustable elements and between one of these two latter and the vehicle, at least one of which is fed by valve means driven by the command means (6) of electrical type.
  3. Device according to claim 1 characterized in that it comprises a manual command (14) to enable and to deactivate the device (1).
  4. Device according to claim 1 characterized in that it comprises visualization means (15) to control the operation and the status of the device (1).
  5. Device according to claim 1 characterized in that the control means (7) are of electronic programmable digital type.
  6. Device according to claim 1 characterized in that the inputs of the control means (7) for the force detecting means (5) are provided with respective low-pass filters.
  7. Device according to claim 1 characterized in that the control means (7) comprise an input connected to measurement means of the speed of the vehicle.
EP06021698A 2005-10-24 2006-10-17 Control device for the support means of a tool Not-in-force EP1776857B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000642A ITBO20050642A1 (en) 2005-10-24 2005-10-24 DEVICE AND METHOD OF CONTROL FOR THE MEANS OF SUPPORTING A TOOL

Publications (2)

Publication Number Publication Date
EP1776857A1 EP1776857A1 (en) 2007-04-25
EP1776857B1 true EP1776857B1 (en) 2010-03-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP06021698A Not-in-force EP1776857B1 (en) 2005-10-24 2006-10-17 Control device for the support means of a tool

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EP (1) EP1776857B1 (en)
AT (1) ATE459237T1 (en)
DE (1) DE602006012598D1 (en)
IT (1) ITBO20050642A1 (en)

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IT1401808B1 (en) * 2010-09-07 2013-08-28 Hymach S R L MOWER CUTTING MACHINE
ITBO20100659A1 (en) * 2010-11-03 2012-05-04 Ferri Srl SAFETY DEVICE FOR OPERATING MACHINE
FR2967011B1 (en) * 2010-11-10 2013-11-22 Kuhn Audureau Sa MOWER-BRUSHCUTTER WITH HYDRAULIC CYLINDERS WITH ELECTRONIC MANAGEMENT
GB2495497A (en) * 2011-10-10 2013-04-17 Shelbourne Reynolds Eng Cutting apparatus having means for measuring load
CN106973617A (en) * 2017-03-15 2017-07-25 德迈智能装备有限公司 Grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover
JP7197459B2 (en) * 2019-11-12 2022-12-27 株式会社クボタ work vehicle
DE102019133069A1 (en) * 2019-12-04 2021-06-10 MULAG FAHRZEUGWERK Heinz Wössner GmbH & Co. KG Boom working device, self-propelled working machine with such a boom working device and a method for detecting the loads acting on the boom
DE102021002151A1 (en) * 2021-04-23 2022-10-27 Guido Wesseler Vehicle with a boom that can be reached out from the side

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US4640368A (en) * 1986-02-27 1987-02-03 Deere & Company Draft sensor including strain sensor coupled to load strap
FR2642797B1 (en) * 1989-01-10 1991-05-17 Secmair DEVICE FOR CONTROLLING THE PRESSURE OF SUPPORT ON THE GROUND OF A ROLLER EQUIPPED WITH A CUTTING HEAD, ESPECIALLY MOWING
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Also Published As

Publication number Publication date
DE602006012598D1 (en) 2010-04-15
ATE459237T1 (en) 2010-03-15
EP1776857A1 (en) 2007-04-25
ITBO20050642A1 (en) 2007-04-25

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